cmake_minimum_required(VERSION 3.8)
project(ur_control)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pinocchio REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Threads REQUIRED)
find_package(serial_driver REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

include_directories(
  include
)
link_directories(/usr/local/lib)

include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})

add_definitions(-DCMAKE_CURRENT_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}")

add_executable(ur_control src/ur_control.cpp)
ament_target_dependencies(ur_control rclcpp std_msgs pinocchio Eigen3 sensor_msgs serial_driver)

target_link_libraries(ur_control
  Threads::Threads
)

install(
  DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)

install(
  DIRECTORY config launch 
  DESTINATION share/${PROJECT_NAME}
)

install(TARGETS
  ur_control
  DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(
  include
)

ament_package()
